Vehicle Side-Slip Angle Estimation of Ground Vehicles Based on a Lateral Acceleration Compensation

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For vehicle stability control system to function properly under a variety of changing road conditions and driver's inputs, precise estimations of vehicle states are necessarily required. In particular, information on the side-slip angle is critical to vehicle handling and safety control. Since commercial sensors measuring the side-slip angle are not cost effective, estimation methods that use available sensor measurements and vehicle dynamics models are necessarily required. This paper proposes a novel methodology to estimate the side-slip angle which is used as an index of vehicle stability. A side-slip angle observer is designed using the bicycle model and the kinematic model. Here, in order to directly use the lateral accelerometer signal, the lateral acceleration compensation method through the roll angle estimation is proposed. The estimation performance is verified under various road conditions and different driver's inputs using HIL test equipment including commercial vehicle dynamics simulation software CarSim.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2020-10
Language
English
Article Type
Article
Citation

IEEE ACCESS, v.8, pp.180433 - 180443

ISSN
2169-3536
DOI
10.1109/ACCESS.2020.3028044
URI
http://hdl.handle.net/10203/277116
Appears in Collection
ME-Journal Papers(저널논문)
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